| Hits ?▲ |
Authors |
Title |
Venue |
Year |
Link |
Author keywords |
| 1 | Durgesh Haribhau Salunkhe, Jose Capco, Damien Chablat, Philippe Wenger |
Geometry Based Analysis of 3R Serial Robots.  |
ARK  |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Bozhao Wang, Philippe Cardou, Stéphane Caro |
An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau |
Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Moritz Schappler |
Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Aitor Muñoyerro, Alfonso Hernández, Mónica Urízar, Oscar Altuzarra |
General Procedure for Path Generation Synthesis Based on Kinematic Constraints. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Hélène Chanal, Rani Rizk, Nicolas Bouton, Benoît Blaysat |
Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Alba Perez Gracia |
A Method for the Complete Set of Solutions of the Finite-Position Synthesis Problem. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Georg Nawratil |
On Origami-Like Quasi-mechanisms with an Antiprismatic Skeleton. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Moritz Schappler |
Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Jakob Ziegler, Hubert Gattringer, Andreas Müller 0002 |
Generation of Parametric Gait Patterns. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Amir Shahidi, Thomas Kinzig, Mathias Hüsing, Burkhard Corves |
Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic Manipulators. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Chiara Lanni, Giorgio Figliolini, Luciano Tomassi |
First and Second Order Centrodes of Slider-Crank Mechanisms by Using Instantaneous Invariants. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Leonardo Mejia, Fabricio Frantz, Daniel Ponce, Daniel Martins |
Best Operation Regions in a Planar Cable Driven System. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | J. M. Selig |
Line-Point Constraints and Robot Surgery. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Moritz Schappler, Tobias Blum, Tim-David Job |
Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Dhruva Khanzode, Ranjan K. Jha, Emilie Duchalais, Damien Chablat |
Stacked Tensegrity Mechanism for Medical Application. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Francisco J. Campa, D. Diaz-Caneja, Mikel Diez, Oscar Altuzarra |
Analysis of a Compliant Parallel Manipulator for Torso Balance Rehabilitation. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | M. John D. Hayes, Mirja Rotzoll, Zachary Copeland |
Spherical 4R Linkage Algebraic $\boldsymbol{v_i}$-$\boldsymbol{v_j}$ Input-Output Equations. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Philipp Jahn, Jakob Hentschel, Annika Raatz |
Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic Working Environment. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | José L. Pulloquinga, Rafael J. Escarabajal, Marina Vallés, Ángel Valera, Vicente Mata |
Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Daniel Condurache |
Hyper-multidual Algebra and Higher-Order Kinematics. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Jean-Pierre Merlet, Romain Tissot |
A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Aritra Das, Anirban Nag, Subir Kumar Saha |
Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Andrea Gotelli, Federico Zaccaria, Olivier Kermorgant, Sébastien Briot |
A Gazebo Simulator for Continuum Parallel Robots. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Shaoping Bai |
Extended Rotation Matrix for Kinematics of Pointing Mechanisms. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Henrique Simas, Roberto Simoni, Raffaele Di Gregorio |
Wriflex: Design and Kinematic Analysis of a Self-aligning Parallel Wrist. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Bertold Bongardt, Andreas Müller 0002 |
On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Aravind Baskar, Mark M. Plecnik, Jonathan D. Hauenstein |
Finding Straight Line Generators Through the Approximate Synthesis of Symmetric Four-Bar Coupler Curves. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Shashank Ramesh, Pranathi Golla, Prem Kumar Prasad, Sandipan Bandyopadhyay |
Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Yuhang Lei, Yusuke Sugahara, Yukio Takeda |
Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Sara Gabaldo, Edoardo Idà, Marco Carricato |
Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Fernando Vinicius Morlin, Vinícius Noal Artmann, Andrea Piga Carboni, Daniel Martins |
Synthesis of Gripper Mechanisms Derived from Baranov Chains. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Zijia Li, Andreas Müller |
6R Linkages with Hidden Singularities. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | H. El Jjouaoui, Giorgio-Mackenzie Cruz-Martinez, Juan-Carlos Avila-Vilchis, Adriana Vilchis Gonzalez, Salih Abdelaziz, Philippe Poignet |
Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Guanglei Wu, Chuangchuang Cui, Huiping Shen |
Trajectory Tracking by Fuzzy-Based Super-Twist Sliding Mode Control of a Parallel PnP Robot. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Michele Conconi, Nicola Sancisi, Vincenzo Parenti-Castelli |
Exploiting Reciprocity Between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Nicolas Torres Alberto, Lucas Joseph, Vincent Padois, David Daney |
A Linearization Method Based on Lie Algebra for Pose Estimation in a Time Horizon. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Elena Galbally Herrero, Adrian Piedra, Cynthia Brosque, Oussama Khatib |
Parametrization of Compliant, Object-Level Controllers from Human Demonstrations. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Christoph Stoeffler, Adriano del Rio Fernandez, Heiner Peters, Moritz Schilling, Shivesh Kumar |
Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Federico Thomas |
Kinematics of a Gear-Based Spherical Mechanism. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Volkert van der Wijk |
The Spatial Pantograph and Its Mass Balance. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Katharina Müller, Andrés Kecskeméthy |
Smooth Wrapping of Stretchable Thick Strands Over a Surface - The 2D Case. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Oscar Altuzarra, Andrés Kecskeméthy (eds.) |
Advances in Robot Kinematics 2022, ARK 2022, Bilbao, Spain, June 26-30, 2022. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Thiago Hoeltgebaum, Luan Meneghini, Vinicius N. Artmann, Daniel Martins |
Classification of Mobilities - New Insights on an Old Topic. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Neel Shihora, Nabil Simaan |
Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Joana Coelho, Bruno Dias, Gil Lopes, A. Fernando Ribeiro, Paulo Flores 0002 |
Reactive Locomotion of a Hexapod for Navigation Across Irregular Ground. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Markus Schmitz, Florian Menz, Mathias Hüsing, Burkhard Corves |
Robotic Analysation Methodology for Multidirectional Additive Manufacturing Process Configuration. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Manfred L. Husty |
Möbius Linkages. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Caitlyn Mundrane, Meysam T. Chorsi, Olga Vinogradova, Horea T. Ilies, Kazem Kazerounian |
Exploring Electric Field Perturbations as the Actuator for Nanorobots and Nanomachines. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Iosif Birlescu, Calin Vaida, Alexandru Pusca, Gabriela Rus, Doina Pisla |
A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform Based on Perturbation Theory. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Marceau Métillon, Camilo Charron, Kévin Subrin, Stéphane Caro |
Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Zijia Li |
A New Family of Overconstrained P5R-Mechanisms. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Federico Thomas, Josep M. Porta |
The Distance Geometry of the Generalized Lobster's Arm. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Iman Soodmand, Maeruan Kebbach, Sven Herrmann, Rainer Bader, Christoph Woernle |
An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators Based on Navigation Functions. |
ARK |
2022 |
DBLP DOI BibTeX RDF |
|
| 1 | Jadran Lenarcic, Bruno Siciliano (eds.) |
Advances in Robot Kinematics 2020, ARK 2020, Ljubljana, Slovenia, June 28 - July 2, 2020. |
ARK |
2021 |
DBLP DOI BibTeX RDF |
|
| 1 | Peter Donelan |
Invariants for Multi-twists, Screw Systems and Serial Manipulators. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Edoardo Idà, Sébastien Briot, Marco Carricato |
Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Guanglei Wu, Ning Zhang, Chuangchuang Cui, Huiping Shen, Xuping Zhang |
Kinematics and Orientation Workspace of a 3-DOF Parallel Robotic Wrist Actuated by Spherical Four-Bar Linkages. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Michele Conconi, Nicola Sancisi, Vincenzo Parenti-Castelli |
The Geometrical Arrangement of Joint Constraints that Makes Natural Motion Possible: Experimental Verification on the Ankle. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | J. M. Selig |
On the Plane Symmetric Bricard Mechanism. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Christoph Stoeffler, Shivesh Kumar, Andreas Müller 0002 |
A Comparative Study on 2-DOF Variable Stiffness Mechanisms. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau |
Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Bertold Bongardt, John J. Uicker |
Exponential Displacement Coordinates by Means of the Adjoint Representation. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Katharina Müller, Andrés Kecskeméthy |
A New Approach for Continuous Wrapping of a Thick Strand on a Surface - The Planar Case with Constant Length and Free Ends. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Daniel Condurache |
Singularity-Free Extraction of a Dual Quaternion from Orthogonal Dual Tensor. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Swaminath Venkateswaran, Damien Chablat |
Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Shaoping Bai, Rui Wu, Ruiqin Li |
Exact Coupler-Curve Synthesis of Four-Bar Linkages with Fully Analytical Solutions. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Omid Heidari, Alba Perez Gracia |
Inverse Kinematics Using a Converging Paths Algorithm. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | J.-B. Guyon, B. Boudon, Hélène Chanal, Benoît Blaysat |
Development of a Vector Geometrical Model for PKM Identification. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Tadej Petric, Marko Jamsek, Jan Babic |
Exoskeleton Control Based on Network of Stable Heteroclinic Channels (SHC) Combined with Gaussian Mixture Models (GMM). |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Abhilash Nayak, Sébastien Briot |
Singularities in the Image-Based Visual Servoing of Five Points. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Michel Coste, Nestor Djintelbe |
Degeneration to Infinity May Provide Information About Kinematics. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Giorgio-Mackenzie Cruz-Martinez, Juan-Carlos Avila-Vilchis, Adriana Vilchis Gonzalez, Salih Abdelaziz, Philippe Poignet |
Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Federico Thomas, Josep M. Porta |
Clifford's Identity and Generalized Cayley-Menger Determinants. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Volkert van der Wijk |
Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Rodrigo Luis Pereira Barreto, Andrea Piga Carboni, Roberto Simoni, Daniel Martins |
Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Oscar Altuzarra, Francisco J. Campa |
On Singularity and Instability in a Planar Parallel Continuum Mechanism. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Aravind Baskar, Mark M. Plecnik |
Higher Order Path Synthesis of Four-Bar Mechanisms Using Polynomial Continuation. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Kevin Chen, J. Michael McCarthy |
Kinematic Synthesis of a Modified Jansen Leg Mechanism. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Abhilash Nayak, Martin Pfurner, Huiping Shen, Manfred Husty |
Algebraic Analysis of 3-RRC Parallel Manipulators. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Jeremy Begey, Marc Vedrines, Pierre Renaud, Nicolas Andreff |
Modeling and Control of a Redundant Tensegrity-Based Manipulator. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | João Cavalcanti Santos, Marc Gouttefarde |
A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | J. R. Jurado Realpe, Salih Abdelaziz, Philippe Poignet |
Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Keerthi Sagar, Vishal Ramadoss, Michal Jilich, Matteo Zoppi, Dimiter Zlatanov, Alessandro Zanella |
Development of a Reconfigurable Four-Bar Mechanism for a Human Robot Collaborative Gripper. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Marc Fabritius, Andreas Pott |
A Forward Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Georg Nawratil |
Evaluating the Snappability of Bar-Joint Frameworks. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Juan Mauricio Toro Ramos, Dhruvin Doshi, Daniel Schütz, Franz Dietrich |
A Compliant Linkage for Cooperative Object Manipulation Through a Heterogeneous Mobile Multi-robot System. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Stanislao Grazioso, Giuseppe Di Gironimo, Luciano Rosati, Bruno Siciliano |
Modeling and Simulation of Hybrid Soft Robots Using Finite Element Methods: Brief Overview and Benefits. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Mirja Rotzoll, M. John D. Hayes, Manfred L. Husty, Martin Pfurner |
A General Method for Determining Algebraic Input-Output Equations for Planar and Spherical 4R Linkages. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Argaja Deepak Shende, Bibekananda Patra, Prem Kumar Prasad, Sandipan Bandyopadhyay |
Analytical Determination of the Longest Cylinder Free of Gain-type Singularities Inside the Workspace of a 3-RPS Spatial Manipulator. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Janez Podobnik, Marko Munih, Matjaz Mihelj |
Magneto-Inertial Data Sensory Fusion Based on Jacobian Weighted-Left-Pseudoinverse. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Amir Shahidi, Katrin Peitsch, Stefan Klimmek, Mathias Hüsing, Burkhard Corves |
Real-Time Motion-Planning in Dynamic Environments via Enhanced Velocity Obstacle. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Jadran Lenarcic |
Advances in Robot Kinematics Facts and Thoughts. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Jean-Pierre Merlet |
The Forward Kinematics of the 4-1 Cable-Driven Parallel Robot with Non Elastic Sagging Cables. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Andreas Müller |
Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Iosif Birlescu, Manfred Husty, Calin Vaida, Bogdan Gherman, Ionut Ulinici, Remus Bogateanu, Doina Pisla |
Motion Parameterization of Parallel Robots Used in Lower Limb Rehabilitation. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Philippe Wenger, Matthieu Furet |
Kinematic Analysis of a Planar Manipulator with Anti-parallelogram Joints and Offsets. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Meysam T. Chorsi, Pouya Tavousi, Caitlyn Mundrane, Vitaliy Gorbatyuk, Horea T. Ilies, Kazem Kazerounian |
One Degree of Freedom 7-R Closed Loop Linkage as a Building Block of Nanorobots. |
ARK |
2020 |
DBLP DOI BibTeX RDF |
|
| 1 | Jadran Lenarcic, Vincenzo Parenti-Castelli (eds.) |
Advances in Robot Kinematics 2018, ARK 2018, Bologna, Italy, 1-5 July 2018. |
ARK |
2019 |
DBLP DOI BibTeX RDF |
|
| 1 | Bertold Bongardt |
Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains. |
ARK |
2018 |
DBLP DOI BibTeX RDF |
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